Abstract

In this work, the structural design of a structure-simplified parallel Delta robot is presented, by considering the kinetostatics, kinematic dexterity and workspace. An approach to normalize the dimensionally inhomogeneous Cartesian stiffness matrix is introduced, and a stiffness evaluation index is defined by means of the singular value decomposition of homogenized stiffness matrix, which is used in the design optimization in turn. A multi-objective design optimization problem is formulated to provide the optimal solutions of different sets of geometric parameters. A set of parameters is selected to lay out the robot, and the tested specifications show the good performances, although the speed is not so high as the commercial FlexPicker and Quattro. A comparative study is carried out between the proposed and original Delta robots by observing joint dynamics, showing that the modified robot structure can improve the robot dynamics. The presented work turns out that the proposed robot is applicable to the pick-and-place operations without high-precision requirement in most industrial sectors.

摘要

在这项工作中，通过考虑运动静力学、运动灵巧性和工作空间，提出了结构简化的并联 Delta 机器人的结构设计。引入了一种对量纲非齐次笛卡尔刚度矩阵进行归一化的方法，通过对齐次刚度矩阵进行奇异值分解定义了刚度评价指标，进而用于设计优化。制定了多目标设计优化问题，以提供不同几何参数集的最优解。选取了一组参数对机器人进行了布局，经过测试的规格显示出良好的性能，虽然速度不如商用的FlexPicker和Quattro。通过观察关节动力学，对提出的和原始的 Delta 机器人进行了比较研究，表明改进的机器人结构可以提高机器人动力学。目前的工作表明，所提出的机器人适用于大多数工业部门中没有高精度要求的取放操作。